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Multi-rotor air vehicles are controlled by varying the rotor speeds. The variation of the rotor speeds enable the altitude change, yaw motion as well as pitch and roll motions of the vehicle. Pitch and roll motion leads to translation motions along x and y axes. When the air vehicle is used for surveillance type missions, the tilting of the vehicle is not desired, since the camera will also be tilted...
This paper shall present the design and implementation of a MATLAB/Simulink Model for the sensorless control of a PMSM in a steer-by-wire application. Simulation results for position, speed and current loops in both open-loop and closed-loop sensorless modes are shown. The sensorless method is based on the tracking of saliencies by high frequency injection.
In order to enable autonomous flights and to increase the field of application of Micro Aerial Vehicles (MAVs) a new quadrotor with tiltable rotors is developed. This highly non-linear system requires complex algorithms to be controlled. To gain an efficient and robust control algorithm is a key problem concerning autonomous flights. In this article a simple but robust control approach based on control...
The study of Unmanned Aerial Vehicles (UAVs) has grown fast recently, and various applications have been developed. This paper presents a design and implementation of attitude control of a co-axial octocopter (CAO). The dynamic model of a CAO is obtained from making the configuration similar to a quadcopter. In order to stabilize the attitude control of CAO, we propose a Fuzzy+PID design of the attitude...
This paper introduces a Miniature Aerial Vehicle (MAV) which is Autonomous in outdoor environment. Main contributions of this research are both new trajectory tracking and attitude control scheme in real flight mode. This MAV is based on a traditional quadrotor. For stabilization of the quadrotor’s attitude a PID controller is utilized. The proposed controller is designed such that to be able to attenuate...
The aim of this paper is to introduce a multi-rotorcraft with morphing capabilities. Unlike conventional multi-copters whose body fly in a horizontal configuration, the proposed platform is be able to rotate its body into a vertical flying mode configuration. The research presented considers an 8-engine vehicle that is able to fly with 4-engines in case of rotor failure. The vertical flight mode is...
The UAV quadrotor is considerably difficult to be controlled due to its inherently unstable and complex multi-variable properties. To realize the control, a nonlinear dynamic model is firstly derived and formulated. A control approach employing hierarchical multiple-layer structure is then developed. The detailed hardware components, software as well as the working principle of the system are described...
We discuss the development of a mini-quadrotor system for indoor application at Konkuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff airframe made of carbon fiber composite material. The attitude control system consists of a stability augmentation system as the inner loop control and a modern control approach...
This paper presents an ergonomic remote control technique based on using IMUs (Inertial Measurement Units) both on helicopter and human hand. This technique provides a new remote control method for horizontal rotors equipped UAVs (Unmanned Aerial Vehicles). The neurobiological aspects and inspiration are also presented. In our experiments, we compared different types of remote control interfaces using...
This paper describes a practical implementation of simple control algorithms on a 6DoF quadrotor flying in an uncontrolled environment and being equipped with inexpensive sensors. A significant number of control algorithms that apply dynamic inversion or backstepping techniques on simplified state variable models of the vehicle dynamics are present in the literature, but they are only tested in simulations...
In order to estimate the approach angle and relative height of Unmanned Aircraft Vehicle (UAV) which lands autonomously, a combinational approach of monocular vision and stereo vision is presented. From monocular sequences, vanishing line is extracted by Hough transform and RANSAC algorithm, and then approach angle of UAV is calculated through vanishing line geometry. From stereo sequences, feature-based...
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